mujoco的2d双足机器人模拟

MuJoCo version 2.00 model name MuJoCo Model nq 6 nv 6 nu 6 na 0 nbody 5 njnt 6 ngeom 5 nsite 0 ncam 0 nlight 0 nmesh 0 nmeshvert 0 nmeshface 0 nmeshtexvert 0 nmeshgraph 0 nskin 0 nskinvert 0 nskintexvert 0 nskinface 0 nskinbone 0 nskinbonevert 0 nhfield 0 nhfielddata 0 ntex 0 ntexdata 0 nmat 0 npair 0 nexclude 0 neq 0 ntendon 0 nwrap 0 nsensor 0 nnumeric 0 nnumericdata 0 ntext 0 ntextdata 0 ntuple 0 ntupledata 0 nkey 0 nuser_body 0 nuser_jnt 0 nuser_geom 0 nuser_site 0 nuser_cam 0 nuser_tendon 0 nuser_actuator 0 nuser_sensor 0 nnames 144 nM 19 nemax 0 njmax 500 nconmax 100 nstack 1280860 nuserdata 0 nmocap 0 nsensordata 0 nbuffer 6600 timestep 0.001 apirate 1e+02 impratio 1 tolerance 1e-08 noslip_tolerance 1e-06 mpr_tolerance 1e-06 gravity 0 0 0 wind 0 0 0 magnetic 0 -0.5 0 density 0 viscosity 0 o_margin 0 o_solref 0.02 1 o_solimp 0.9 0.95 0.001 0.5 2 integrator 1 collision 0 collision 0 cone 0 jacobian 2 solver 2 iterations 100 noslip_iterations 0 mpr_iterations 50 disableflags 0 enableflags 2 totalmass 2.2 meaninertia 1 meanmass 0.55 meansize 0.39 extent 3 center 0 0.12 1 qpos0 0 0 0 0 0 0 qpos_spring 0 0 0 0 0 0 BODY 0: name world parentid 0 rootid 0 weldid 0 mocapid -1 jntnum 0 jntadr -1 dofnum 0 dofadr -1 geomnum 1 geomadr 0 simple 1 sameframe 1 pos 0 0 0 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 0 subtreemass 2.2 inertia 0 0 0 invweight0 0 0 BODY 1: name leg1 parentid 0 rootid 1 weldid 1 mocapid -1 jntnum 3 jntadr 0 dofnum 3 dofadr 0 geomnum 1 geomadr 1 simple 0 sameframe 1 pos 0 0 2 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 1 subtreemass 2.2 inertia 0.084 0.084 0.0013 invweight0 0.41 1.6 BODY 2: name foot1 parentid 1 rootid 1 weldid 2 mocapid -1 jntnum 1 jntadr 3 dofnum 1 dofadr 3 geomnum 1 geomadr 2 simple 0 sameframe 1 pos 0 0 -0.75 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 0.1 subtreemass 0.1 inertia 0.0001 0.0001 0.0001 invweight0 4.6 1.6 BODY 3: name leg2 parentid 1 rootid 1 weldid 3 mocapid -1 jntnum 1 jntadr 4 dofnum 1 dofadr 4 geomnum 1 geomadr 3 simple 0 sameframe 1 pos 0 0.25 0 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 1 subtreemass 1.1 inertia 0.084 0.084 0.0013 invweight0 0.41 1.6 BODY 4: name foot2 parentid 3 rootid 1 weldid 4 mocapid -1 jntnum 1 jntadr 5 dofnum 1 dofadr 5 geomnum 1 geomadr 4 simple 0 sameframe 1 pos 0 0 -0.75 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 0.1 subtreemass 0.1 inertia 0.0001 0.0001 0.0001 invweight0 4.6 1.6 JOINT 0: name x type 2 qposadr 0 dofadr 0 bodyid 1 group 0 limited 0 pos 0 0 0.5 axis 1 0 0 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 JOINT 1: name z type 2 qposadr 1 dofadr 1 bodyid 1 group 0 limited 0 pos 0 0 0.5 axis 0 0 1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 JOINT 2: name pin type 3 qposadr 2 dofadr 2 bodyid 1 group 0 limited 0 pos 0 0 0.5 axis 0 -1 0 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 JOINT 3: name knee1 type 2 qposadr 3 dofadr 3 bodyid 2 group 0 limited 0 pos 0 0 0.25 axis 0 0 -1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 JOINT 4: name hip type 3 qposadr 4 dofadr 4 bodyid 3 group 0 limited 0 pos 0 0 0.5 axis 0 -1 0 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 JOINT 5: name knee2 type 2 qposadr 5 dofadr 5 bodyid 4 group 0 limited 0 pos 0 0 0.25 axis 0 0 -1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 margin 0 DOF 0: bodyid 1 jntid 0 parentid -1 Madr 0 simplenum 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 frictionloss 0 armature 0 damping 0 invweight0 1.6 M0 2.2 DOF 1: bodyid 1 jntid 1 parentid 0 Madr 1 simplenum 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 frictionloss 0 armature 0 damping 0 invweight0 0.5 M0 2.2 DOF 2: bodyid 1 jntid 2 parentid 1 Madr 3 simplenum 0 solref 0.02 1 solimp 0.9 0.95 0.001 0.5 2 frictio